Yamaha Robotics YK120X User Manual

4-21

The adjustment method for the R-axis machine reference is as follows.

1) Prepare the necessary tools.

•  Hex wrench set

2) Check that no one is inside the safeguard enclosure, and then turn on the

controller.

3) Perform the absolute reset from outside the safeguard enclosure.

Refer to "3-3 Absolute reset procedures" for information about the absolute
reset method.

4) If any machine reference value displayed on the MPB is not in the range

between 40 and 60 (recommended range) after the absolute reset has been
completed, then proceed with the following adjustment procedure.

5) Place a sign indicating that the robot is being adjusted in order to keep others

from operating the controller or operation panel.

6) Turn off the controller and enter the safeguard enclosure.

7) Mark off the reference mark at the current origin position on the R-axis joint

area of the robot.
At this time, be careful to prevent the origin position from deviating since the
R-axis is touched.

8) Using a hex wrench, loosen the set screws (4 pieces) securing the dog ring to

the R-axis joint. (See Fig. 4-8.)

The set screws only need to be loosened, and do not need to be completely
removed.

9) Move the dog ring in the following manner.

When machine reference < 40%: Move dog ring in A direction
When machine reference > 60%: Move dog ring in B direction
The movement guide is 2.9mm/100%.

10) Tighten the set screws to secure the dog ring. Rotate the R-axis by hand to

check that the dog and sensor do not come in contact with each other. (See
Fig. 4-8.)